CN102122135B - Closed loop load rigidity changing device - Google Patents
Closed loop load rigidity changing device Download PDFInfo
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- CN102122135B CN102122135B CN 201010219055 CN201010219055A CN102122135B CN 102122135 B CN102122135 B CN 102122135B CN 201010219055 CN201010219055 CN 201010219055 CN 201010219055 A CN201010219055 A CN 201010219055A CN 102122135 B CN102122135 B CN 102122135B
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- rigidity
- intermediate slider
- closed loop
- spring sheet
- sliding block
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Abstract
The invention discloses a closed loop load rigidity changing device and belongs to the field of aircraft control. The closed loop load rigidity changing device comprises a power mechanism, a linear transmission platform, a load spring piece, a positioning slider, an angle sensor, a torque sensor, a controller which has a rigidity closed loop control function and a middle slider. By the closed loop load rigidity changing device, the rigidity closed loop control of a simulation loading device of a rigidity-variable steering engine is realized and the loading precision of the loading device can be greatly improved so as to improve the precision of the simulation. The torque sensor is arranged on a fixed spring piece, and the moment of inertia of rotating pieces of the loading device is not increased. The closed loop load rigidity changing device can be used for loading the steering engine which is sensitive to the moment of inertia, does not change the performance of the steering engine and makes the application of loading systems wider.
Description
Technical field
The present invention relates to a kind of closed loop load rigidity changing device, be used for topworks's charger of aircraft dispatch control system emulation, belong to the aircraft control field.
Technical background
The effect of the servo simulated loading device of steering wheel is the suffered aerodynamic couple of simulated flight device rudder face in flight course, its function is the rudder face suffered load aloft of reproduction aircraft under laboratory condition, thereby the performance index of sense aircraft control system, the servo simulated loading device of traditional steering wheel is actual is a force application mechanism, this mechanism substantially by electrohydraulic servo valve, hydraulic cylinder (or oil motor) and controller etc. form, or formed by servomotor, reduction gearing mechanism and controller etc.The output of hydraulic cylinder or the output of reduction gearing mechanism directly are added on tested steering wheel output shaft.The big or small ideal situation of the device application of force is to be decided by the voltage signal of input control device, and this signal represents the suffered aerodynamic couple of rudder face.Because the force application mechanism response speed is limited, and rudder sheet position changes, so can produce larger redundant force, affects the precision of emulation.
Reducing to greatest extent redundant force is the leading indicator of the servo simulated loading device design of traditional steering wheel, usually its approach is exactly improve the response speed of force application mechanism and adopt new control method, but its response speed is subject to the restriction of topworks-Hydrauservo System or electrical servo system response speed, make traditional servo loading system can't eliminate redundant force, the loading emulation of the rotating missile steering gear system that especially will seek quickness for response speed.Patent rigidity-variable steering engine simulated loading device (200710119937.0) has proposed to change by servo control mechanism the scheme that the spring leaf active length realizes the aerodynamic force that simulated flight device rudder sheet when the differing heights friction speed is suffered, but this scheme deficiency is the precision that the device loading accuracy depends on spring leaf, and loading accuracy is restricted.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, propose a kind of closed loop load rigidity changing device, make the rigidity control of rigidity-variable steering engine simulated loading device realize closed-loop control, can greatly improve the loading accuracy of charger.
a kind of closed loop load rigidity changing device of the present invention comprises actuating unit, Linear transmission platform, loading spring sheet, positioning sliding block, angular transducer, torque sensor, the controller with rigidity closed loop control function and intermediate slider, intermediate slider is connected with the motion parts of Linear transmission platform, be that motor drags the intermediate slider straight reciprocating motion by the Linear transmission platform, torque sensor one end is fixed on intermediate slider, the other end is fixed on positioning sliding block, torque sensor is hollow, the loading spring sheet passes in the centre, driving positioning sliding block during the intermediate slider straight reciprocating motion moves together, the loading spring sheet is added on moment on positioning sliding block, angular transducer is added on loading spring sheet and hard parts that tested steering wheel is connected, obtain the rigidity of loading spring sheet when steering engine output torque and angle, controller is according to this rigidity and wish that ratio of rigidity, control transmission platform and drag the intermediate slider motion, make practical stiffness equal to wish rigidity.
The Linear transmission platform is comprised of pedestal, ball-screw and moving component, its moving component be ball-screw nut or with the mechanism of nut one, when leading screw rotated under driven by motor, moving component made to come and go rectilinear motion, and moving component only makes to come and go rectilinear motion along leading screw.
The bottom of intermediate slider is fixed on the moving component of Linear transmission platform, only moves together with moving component, and a side coupling torque sensor perpendicular to the Linear transmission platform of intermediate slider.
Torque sensor is hollow, one termination intermediate slider, and move together with intermediate slider, another termination positioning sliding block.
Positioning sliding block is comprised of registration roller, hold-down roller and holddown spring or other hold-down mechanisms, the loading spring sheet passes through between registration roller and hold-down roller, registration roller and hold-down roller clamp the loading spring sheet, the suffered moment of loading spring sheet is passed to torque sensor by positioning sliding block, and positioning sliding block and torque sensor are to be suspended on intermediate slider.
Beneficial effect of the present invention:
1. the present invention controls the rigidity of rigidity-variable steering engine simulated loading device and has realized closed-loop control, can greatly improve the loading accuracy of charger, thereby improve the precision of emulation.
2. the present invention is placed on the stationary spring place with torque sensor, does not increase the moment of inertia of charger tumbler, can be applicable to the steering wheel of moment of inertia sensitivity is loaded, and does not change the performance of steering wheel, makes the application of loading system wider.
Description of drawings
The chief component schematic diagram of Fig. 1-of the present invention closed loop load stiffness variation mechanism;
Wherein: 1-motor, 2-Linear transmission platform, 3-loading spring sheet, 4-positioning sliding block, 5-intermediate slider, 6-torque sensor, 7-base, 8-angular transducer, the tested steering wheel of 9-.
Embodiment
closed loop load stiffness variation of the present invention mechanism by motor 1 or other actuating unit, Linear transmission platform 2, have flexible loading spring sheet 3, positioning sliding block 4, angular transducer 8, torque sensor 6, the controller with rigidity closed loop control function and intermediate slider 5 etc. and form, intermediate slider is connected with the motion parts of Linear transmission platform, be that motor drags the intermediate slider straight reciprocating motion by the Linear transmission platform, torque sensor one end is fixed on intermediate slider, the other end is fixed on positioning sliding block, torque sensor is hollow, the loading spring sheet can pass in the centre, driving positioning sliding block during the intermediate slider straight reciprocating motion moves together, the moment that the loading spring sheet is added on positioning sliding block can accurately pass on torque sensor, angular transducer is added on loading spring sheet and hard parts that tested steering wheel is connected, this hard parts one side connects tested steering wheel, one side connects on the loading spring sheet, when steering wheel rotates, hard parts is identical with the steering wheel corner, angular transducer can reflect the corner of steering wheel
When steering engine output torque and angle have accurately been arranged, can obtain the rigidity of actual loading spring sheet, controller can and be wished ratio of rigidity according to this rigidity, controls transmission platform and drags the intermediate slider motion, makes practical stiffness equal to wish rigidity.
Claims (1)
1. a closed loop load rigidity changing device, is characterized in that: comprise actuating unit, Linear transmission platform, loading spring sheet, positioning sliding block, angular transducer, torque sensor, the controller with rigidity closed loop control function and intermediate slider, intermediate slider is connected with the motion parts of Linear transmission platform, be that motor drags the intermediate slider straight reciprocating motion by the Linear transmission platform, torque sensor one end is fixed on intermediate slider, the other end is fixed on positioning sliding block, torque sensor is hollow, the loading spring sheet passes in the centre, driving positioning sliding block during the intermediate slider straight reciprocating motion moves together, the loading spring sheet is added on moment on positioning sliding block, angular transducer is carried on loading spring sheet and hard parts that tested steering wheel is connected, obtain the rigidity of loading spring sheet when steering engine output torque and angle, controller is according to this rigidity and wish that ratio of rigidity, control transmission platform and drag the intermediate slider motion, make practical stiffness equal to wish rigidity,
Described Linear transmission platform is comprised of pedestal, ball-screw and moving component, and its moving component is the nut of ball-screw, and when leading screw rotated under driven by motor, moving component made to come and go rectilinear motion;
The bottom of described intermediate slider is fixed on the moving component of Linear transmission platform, only moves together with moving component, and a side coupling torque sensor perpendicular to the Linear transmission platform of intermediate slider;
Described positioning sliding block comprises location rod, pressing bar and holddown spring, the loading spring sheet passes through between location rod and pressing bar, location rod and pressing bar step up the loading spring sheet, to torque sensor, positioning sliding block and torque sensor are to be suspended on intermediate slider to the suffered moment of loading spring sheet by positioning sliding block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010219055 CN102122135B (en) | 2010-06-25 | 2010-06-25 | Closed loop load rigidity changing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010219055 CN102122135B (en) | 2010-06-25 | 2010-06-25 | Closed loop load rigidity changing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102122135A CN102122135A (en) | 2011-07-13 |
| CN102122135B true CN102122135B (en) | 2013-06-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010219055 Expired - Fee Related CN102122135B (en) | 2010-06-25 | 2010-06-25 | Closed loop load rigidity changing device |
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| Country | Link |
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| CN (1) | CN102122135B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107195236B (en) * | 2016-03-14 | 2019-08-13 | 北京自动化控制设备研究所 | A kind of constant linear load simulating device |
| CN106181995B (en) * | 2016-07-08 | 2019-05-28 | 燕山大学 | Power/position controllable type flexible actuator |
| CN108051202A (en) * | 2017-12-12 | 2018-05-18 | 北京自动化控制设备研究所 | A kind of constant linear load simulating device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2225705Y (en) * | 1995-01-28 | 1996-04-24 | 刘庆和 | Electric liquid load simulator |
| CN1452065A (en) * | 2002-04-12 | 2003-10-29 | 北京航空航天大学 | Speed synchronously controlled electrohydraulic load simulator |
| JP3694742B2 (en) * | 2002-02-12 | 2005-09-14 | 防衛庁技術研究本部長 | Dynamic wind test model with control surface drive mechanism |
| CN101105423A (en) * | 2007-08-03 | 2008-01-16 | 北京理工大学 | Rigidity-variable steering engine simulated loading device |
| CN101539476A (en) * | 2009-03-12 | 2009-09-23 | 北京理工大学 | Aerocraft steering engine non-rubber deviation load torque following mechanism |
-
2010
- 2010-06-25 CN CN 201010219055 patent/CN102122135B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2225705Y (en) * | 1995-01-28 | 1996-04-24 | 刘庆和 | Electric liquid load simulator |
| JP3694742B2 (en) * | 2002-02-12 | 2005-09-14 | 防衛庁技術研究本部長 | Dynamic wind test model with control surface drive mechanism |
| CN1452065A (en) * | 2002-04-12 | 2003-10-29 | 北京航空航天大学 | Speed synchronously controlled electrohydraulic load simulator |
| CN101105423A (en) * | 2007-08-03 | 2008-01-16 | 北京理工大学 | Rigidity-variable steering engine simulated loading device |
| CN101539476A (en) * | 2009-03-12 | 2009-09-23 | 北京理工大学 | Aerocraft steering engine non-rubber deviation load torque following mechanism |
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| Publication number | Publication date |
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| CN102122135A (en) | 2011-07-13 |
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